Acquisition and utilization of motion skills in motion planning of multiple mobile robots

This paper deals with how to introduce motion skills in motion planning of multiple mobile robots. The motion skills are defined as rules of “IF ⟨specific situation⟩ THEN ⟨specific action⟩” type. Authors propose an algorithm for acquiring and utilizing the skills. First, the concept of sensor information pattern is introduced for recognizing the specific situation. Next, acquisition of the motion skills are made by induction process, which is accomplished by using hierarchical neural network. Last, simulations are made to show the effectiveness of the proposed algorithm